A robot core assembly jig equipped with a 3D vision system and a debugging method

Abstract

The application relates to a robot core assembling clamp equipped with a 3D vision system and a debugging method, which comprises a 3D camera and a robot; the 3D camera is installed on the clamp, can take pictures of a casting sand core for positioning, and can complete core assembling; the sixth axis of the robot is used to complete the overturning of the core assembling; and the program debugging of the robot and the 3D camera is included. The 3D vision can capture the sand core from any angle; the positioning precision of the core assembling can be within 0.2 mm, and the quality is reliably guaranteed; the 3D camera is installed on the clamp, can take pictures of the sand core for positioning for multiple times, and can complete core assembling, and the flexibility is high.

Description

Technical Field

[0001] This invention belongs to the field of cylinder core assembly technology, and relates to a robot core assembly fixture and debugging method equipped with a 3D vision system. Background Technology

[0002] In the foundry industry, the traditional cylinder block sand core assembly process involves positioning using mechanical jigs, with robots handling the transport to a workbench where manual core assembly is performed (e.g., ...). Figure 1 (As shown); This process involves too many repetitive handling actions, resulting in low efficiency, affecting the cycle time of the entire automated line, increasing the labor intensity of personnel, and causing sand core cracks due to precision issues during the core assembly process;

[0003] Operation flow: The conveyor line transports the casting sand cores to the robot's gripping range. The robot is equipped with a gripper with an external axis and runs along a fixed trajectory to grip the casting sand cores. The first casting sand core to be assembled is transported to the core assembly station, and then the second casting sand core is transported to the core assembly station to complete the assembly.

[0004] Fixture design scheme: This type of fixture has a complex structure. Since the casting sand core needs to be flipped before it can be assembled, an external shaft is required. The flipping transmission of the fixture uses a chain, and the opening and closing are synchronized by a cylinder driving a gear rack.

[0005] Components of the fixture: Figure 2 The middle clamp includes an external shaft motor, a reducer connected to the motor, an encoder mounted at the end of the reducer, a right clamp arm (connected to the rotating shaft chain), clamp jaws, a clamp frame, a cylinder, a control clamp switch, a rotating shaft (mounted together with the reducer), and a left clamp arm (connected to the rotating shaft chain); the middle part is the sand core being clamped.

[0006] Results: This solution and process involve too many repetitive handling actions, resulting in low efficiency, affecting the overall cycle time of the automated line, and causing high labor intensity for personnel.

[0007] Patent document CN201922012226.4 provides a 3D vision-based dispensing fixture, which differs from this application in that the dispensing camera is installed in a fixed position. In this design, the camera is installed on the fixture and moves accordingly.

[0008] Patent document CN202021914425.0 provides a gripper changing structure based on a 3D vision-based feeding robot. The difference between this application and the previous one is that the feeding robot only takes one photo per gripping operation, while this design requires four photos to complete the core assembly. Summary of the Invention

[0009] The technical problem to be solved by the present invention is to overcome the above-mentioned problems existing in the prior art and to provide a robot core assembly fixture and debugging method equipped with a 3D vision system.

[0010] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0011] To solve the above-mentioned technical problems, the present invention is implemented using the following technical solution:

[0012] A robotic core assembly fixture equipped with a 3D vision system includes a 3D camera and a robot; the 3D camera is mounted on the fixture to photograph and position the casting sand core and complete the core assembly; the robot's sixth axis is used to flip the assembled core.

[0013] Furthermore, the 3D camera is mounted on a fixture to photograph and position the casting sand core, and to complete the core assembly; the sixth axis of the robot is used to flip the assembled core, and the specific steps include:

[0014] (1) The roller conveyor pallet is divided into two pallets: the water jacket core and the main core, with two pieces per pallet;

[0015] (2) The robot adjusts its posture and uses a 3D camera to take pictures to locate the No. 1 water jacket core. With the assistance of a laser ranging system, the robot is guided to grab the No. 1 water jacket core.

[0016] (3) The clamp rotates the No. 1 water jacket core 180 degrees;

[0017] (4) The robot locates the No. 1 main core by taking pictures with vision and using a laser ranging system for assistance;

[0018] (5) The robot combines the No. 1 water jacket cover core and the No. 1 main body core;

[0019] (6) The robot adjusts its posture and uses 3D vision to take pictures to locate the No. 2 water jacket core. With the assistance of the laser ranging system, the robot is guided to grab the No. 2 water jacket core.

[0020] (7) The clamp rotates the No. 2 water jacket core 180 degrees;

[0021] (8) The robot locates the No. 2 main core by taking pictures with vision and using a laser ranging system for assistance;

[0022] (9) The robot combines the No. 2 water jacket cover core and the No. 2 main body core;

[0023] (10) Return to the origin and repeat the above process.

[0024] A method for debugging a robot core fixture equipped with a 3D vision system, characterized in that:

[0025] A 3D camera is mounted on a fixture to photograph and position the casting sand core, and then the core is assembled. The sixth axis of a robot is used to flip the assembled core.

[0026] This includes debugging the programs for robots and 3D cameras.

[0027] Furthermore, the robot debugging steps are as follows:

[0028] First, open the robot teach pendant. In the program interface, create a new folder named "New Workpiece Model" within the "yq_zx" folder according to the path KRC / R1 / yq_zx / workpiece model.

[0029] The second step is to establish the main program and subroutines;

[0030] The third step is to enter the gripping program for the first group of workpiece cover plates of the new workpiece model;

[0031] The fourth step is to proceed with the placement procedure for the first group of workpiece cover plates of the new workpiece model.

[0032] Step 5: Enter the gripping program for the second group of workpiece cover plates of the new workpiece model;

[0033] Step 6: Enter the Main_workpiece_model.rc program to make changes.

[0034] Step 7: Add a new workpiece program to the main program;

[0035] The establishment of the main program and subroutines specifically includes:

[0036] (1) The new workpiece model is set as B773. For workpiece model B773, the robot will combine two sets of workpieces in one process. There are two sets of finished parts. There are two sets of cover plate grabbing programs in the B773 program, with the program name containing "pick" and two sets of cover plate placement programs, with the program name containing "drop".

[0037] (2) KRL3D_B773_pick_1 is the program for picking up the cover plate of the first group of workpieces of model B773;

[0038] (3) KRL3D_B773_pick_2. is the program for picking up the cover plate of the second group of workpieces of model B773.

[0039] (4) KRL3D_B773_drop_1 is the program for placing the cover plate of the first group of workpieces of model B773;

[0040] (5) KRL3D_B773_drop_2 is the program for placing the cover plate of the second group of workpieces of model B773;

[0041] (6) Main_B773 is the integration program for workpiece model B773.

[0042] Furthermore, the grasping procedure for the first group of workpiece cover plates of the new workpiece model specifically includes:

[0043] Enter the file containing KRL3D_B773_pick_1.src;

[0044] Bytes[] = "B77301";

[0045] Change B77301 to the image capture command for the first set of workpiece cover plates of the new workpiece in the camera software.

[0046] Furthermore, the placement procedure for the first group of workpiece cover plates of the new workpiece model specifically includes:

[0047] Enter the file containing KRL3D_B773_drop_1.src;

[0048] Bytes[] = "B77302";

[0049] Change B77302 to the camera software's instruction to take a picture of the placement template for the first set of workpiece cover plates of the new workpiece.

[0050] Furthermore, the grasping procedure for the second group of workpiece cover plates of the new workpiece model specifically includes:

[0051] Enter the file containing KRL3D_B773_pick_2.src;

[0052] Bytes[] = "B77303";

[0053] Change B77303 to the capture template photo instruction for the second group of workpiece cover plates of the new workpiece in the camera software.

[0054] Furthermore, add new workpiece programs to the main program, specifically including:

[0055] (1) Locate the cell program according to the path KR1 / R1 / ;

[0056] (2) Change CASE 2 to Main_B773();

[0057] (3) The new workpiece program has been completed. Set the program number to 2 in the industrial control computer and the workstation will run the new workpiece operation program.

[0058] Furthermore, the 3D camera vision debugging steps are as follows:

[0059] (1) Open the 3D camera program editing software "Designer4.2", enter the "Locationjob_1" module, and click "Run All";

[0060] (2) In the ToolBlock, double-click "cogtoolblock1" in sequence.

[0061] Use "cog3DPatmaxtool1" to create a graphic template and capture the latest "visual training data";

[0062] (3) Floating 3D display in the training area, maximize the window, manually adjust the range of module features, and click the center origin, training, until training is successful and the trained status is displayed.

[0063] (4) Run the template and check the similarity, which should be above 0.99; save the image in the 3DPatmax folder, and use different numbers for different workpieces; after closing the window, click Run;

[0064] (5) In the cog3DPatmaxtool1 option, obtain the image position data and input the robot's position data. Click Training to save the image in the 3Dtransform folder. The workpiece number should be consistent with the image template.

[0065] (6) Close the debugging window and return to the main interface. Click Run to enter the automatic mode and complete the 3D camera debugging.

[0066] Compared with the prior art, the beneficial effects of the present invention are:

[0067] This invention's 3D vision can grasp sand cores from any angle;

[0068] The core positioning accuracy is within 0.2mm, ensuring reliable quality.

[0069] The 3D camera is mounted on the fixture, which can take multiple photos of the sand core for positioning and complete the core assembly, offering high flexibility.

[0070] This fixture design does not require the addition of an external axis for flipping; it uses the robot's sixth axis to complete the flipping, resulting in high speed and positional accuracy.

[0071] This reduces process steps and improves production efficiency. Attached Figure Description

[0072] The invention will now be further described with reference to the accompanying drawings:

[0073] Figure 1 This is a schematic diagram of mechanical fixture positioning in the prior art;

[0074] Figure 2 This is a schematic diagram of an external shaft clamp in the prior art;

[0075] Figure 3 This is a structural diagram of a robot core clamp equipped with a 3D vision system according to the present invention;

[0076] Figure 4 This is a front view of a robot core jig equipped with a 3D vision system according to the present invention.

[0077] Figure 5 This is a top view of a robot core jig equipped with a 3D vision system according to the present invention;

[0078] Figure 6 This is a top view of the left gripper arm and gripper finger in a robot core jig equipped with a 3D vision system according to the present invention.

[0079] Figure 7 This is a diagram illustrating finger pinching;

[0080] Figure 8 This is a structural diagram of the crossbeam assembly;

[0081] Figure 9 This is a schematic diagram of a synchronous rack and pinion assembly;

[0082] Figure 10 This is a flowchart illustrating the control of a robot core assembly fixture equipped with a 3D vision system according to the present invention.

[0083] Figure 11 This is a site layout diagram of a robot core assembly fixture equipped with a 3D vision system according to the present invention;

[0084] Figure 12 A timing diagram for each core movement beat;

[0085] Figure 13 This is a diagram of the robot's program structure.

[0086] Figure 14 The program diagram for the robot to grasp the first set of cover plate cores and call camera data;

[0087] Figure 15 The diagram shows the data retrieval program for the first main core of the robot assembly and the camera.

[0088] Figure 16 Flowchart of the robot's program for grasping the second set of cover plate cores and calling camera data;

[0089] Figure 17 The main program of the robot calls the program diagram;

[0090] Figure 18 A diagram illustrating the field of view for a 3D camera.

[0091] Figure 19 A diagram showing the basic parameters of the A5060 3D camera;

[0092] Figure 20 A schematic diagram of the program blocks for a 3D camera;

[0093] Figure 21 This is a schematic diagram of visual training data;

[0094] Figure 22 This is a schematic diagram of a floating 3D display;

[0095] Figure 23 This is a diagram illustrating the similarity.

[0096] Figure 24 This is a schematic diagram of the coordinates of a 3D camera.

[0097] Figure 25 To complete the debugging diagram;

[0098] In the picture:

[0099] 1. Hub; 2. 3D camera; 3. Pressure reducing valve assembly; 4. Crossbeam assembly; 5. Solenoid valve; 6. Cylinder assembly; 7. Left clamping arm; 8. Clamping finger; 9. Synchronous rack assembly; 10. Ranging laser; 11. Right clamping arm. Detailed Implementation

[0100] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of the embodiments of this invention will be described in more detail below with reference to the accompanying drawings. In the drawings, the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The described embodiments are some, but not all, embodiments of this invention. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this invention, and should not be construed as limiting the invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention. The embodiments of this invention will be described in detail below with reference to the accompanying drawings.

[0101] In the description of this invention, it should be understood that the terms "center", "longitudinal", "lateral", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting the scope of protection of this invention.

[0102] The present invention will now be described in detail with reference to the accompanying drawings:

[0103] This invention provides a robot core assembly fixture equipped with a 3D vision system and a debugging method thereof.

[0104] The 3D camera is mounted on the fixture, which can take multiple photos of the casting sand core for positioning and complete the core assembly, offering high flexibility. This fixture design does not require the addition of an external axis for flipping; the flipping is completed using the robot's sixth axis, resulting in high speed and positional accuracy.

[0105] I. Composition of the fixture, see [link / reference] Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 , Figure 8 , Figure 9 :

[0106] It includes a hub 1, a 3D camera 2, a pressure reducing valve assembly 3, a crossbeam assembly 4, a solenoid valve 5, a cylinder assembly 6, a left clamping arm 7, a clamping finger 8, a synchronous rack assembly 9, a ranging laser 10, and a right clamping arm 11.

[0107] II. Control process description, please refer to Figure 10 :

[0108] (1) The roller conveyor pallet is divided into two pallets: the water jacket core and the main core, with two pieces per pallet;

[0109] (2) The robot adjusts its posture and uses 3D vision to take pictures to locate the No. 1 water jacket core. With the assistance of the laser ranging system, the robot is guided to grab the No. 1 water jacket core.

[0110] (3) The clamp rotates the No. 1 water jacket core 180 degrees;

[0111] (4) The robot locates the No. 1 main core by taking pictures with vision and using a laser ranging system for assistance;

[0112] (5) The robot combines the No. 1 water jacket cover core and the No. 1 main body core;

[0113] (6) The robot adjusts its posture and uses 3D vision to take pictures to locate the No. 2 water jacket core. With the assistance of the laser ranging system, the robot is guided to grab the No. 2 water jacket core.

[0114] (7) The clamp rotates the No. 2 water jacket core 180 degrees;

[0115] (8) The robot locates the No. 2 main core by taking pictures with vision and using a laser ranging system for assistance;

[0116] (9) The robot combines the No. 2 water jacket cover core and the No. 2 main body core;

[0117] (10) Return to the origin and repeat the above process.

[0118] Please refer to the site layout diagram. Figure 11 ;

[0119] Timing diagram as follows Figure 12 ;

[0120] Figure 12 The timing diagram for each core assembly's action cycle shows that the entire process fully complies with the process cycle requirements.

[0121] III. Robot Debugging Steps (Taking the new product B773 as an example):

[0122] Step 1. Open the robot teach pendant. In the program interface, create a new folder within the yq_zx folder according to the path KRC / R1 / yq_zx / B773, and name it "New Workpiece Model" (e.g., B773).

[0123] Step 2. Create the main program and subroutines: (e.g.) Figure 13 )

[0124] (1) For B773 model workpieces, the robot will combine two sets of workpieces in one process. There are two sets of finished parts. Therefore, the B773 program will have two sets of cover plate grabbing programs (program names include "pick") and two sets of cover plate placement programs (program names include "drop").

[0125] (2) KRL3D_B773_pick_1 is the program for picking up the cover plate of the first group of workpieces of model B773.

[0126] (3) KRL3D_B773_pick_2. is the program for picking up the cover plate of the second group of workpieces of model B773.

[0127] (4) KRL3D_B773_drop_1 is the program for placing the cover plate of the first group of workpieces of model B773.

[0128] (5) KRL3D_B773_drop_2 is the program for placing the cover plate of the second group of workpieces of model B773.

[0129] (6) Main_B773 is the integration program for workpiece model B773.

[0130] Step 3. Enter the file containing KRL3D_B773_pick_1.src, such as... Figure 14 ;

[0131] Bytes[] = "B77301"

[0132] Change B77301 to the camera software's capture template for photographing the first set of workpiece cover plates of the new workpiece.

[0133] Step 4. Enter the file containing KRL3D_B773_drop_1.src, as follows: Figure 15 ;

[0134] Bytes[] = "B77302"

[0135] Change B77302 to the camera software's command to take a picture of the first set of workpiece cover plates for the new workpiece.

[0136] Step 5. Enter the file containing KRL3D_B773_pick_2.src, as shown below. Figure 16 ;

[0137] Bytes[] = "B77303"

[0138] Change B77303 to the image capture command in the camera software for the second set of workpiece cover plates of the new workpiece.

[0139] Step 6. Enter the Main_B773.rc program and make changes.

[0140] Step 7. Add a new workpiece program to the main program; for example... Figure 17 .

[0141] (1) Locate the cell program according to the path KR1 / R1 / ;

[0142] (2) Change CASE 2 to Main_B773();

[0143] (3) The new workpiece program has been completed. Set the program number to 2 in the industrial control computer and the workstation will run the new workpiece operation program.

[0144] IV. Basic parameters of 3D cameras, such as Figure 18 , Figure 19 :

[0145] The Cognex A5060 3D camera is used, which has the advantage of high positioning accuracy and is not affected by external light sources in terms of grasping accuracy.

[0146] V. 3D Vision Debugging Steps:

[0147] (1) Open the 3D camera program editing software "Designer4.2", enter the "Locationjob_1" module, and click "Run All"; Figure 20 .

[0148] (2) In the ToolBlock, double-click "cogtoolblock1" in sequence.

[0149] Use "cog3DPatmaxtool1" to create image templates and retrieve the latest "visual training data"; for example... Figure 21 .

[0150] (3) Floating 3D display within the training area, maximize the window, manually adjust the range of module features (within the square), and after confirming, click the center origin, then train, until training is successful and the "trained" message is displayed; when selecting workpiece features, leave a portion unselected as error, the remaining portion being the boundary between the area not captured by the camera and the captured area on the workpiece. For example... Figure 22 .

[0151] (4) Run the template and check the similarity, which should be above 0.99; save the images in the 3DPatmax folder, using different numbers for different workpieces; close the window and click Run; Figure 23 .

[0152] (5) In the cog3DPatmaxtool1 option, obtain the image position data and input the robot's position data. Click "Train" to save the image in the 3Dtransform folder. The workpiece number should match the image template. Figure 24 .

[0153] (6) Close the debug window and return to the main interface. Click "Run" to enter automatic mode and complete the 3D camera debugging; Figure 25 .

[0154] VI. Implementation Plan:

[0155] Hardware assembly of the fixture, including: all components on the clamping arm, 3D camera, laser rangefinder, etc.;

[0156] The robot and 3D camera were programmed separately, and the actions of all valves on the fixture were adjusted.

[0157] Complete all product debugging.

[0158] The robot's program and the 3D camera's program structure are simple, making it easier for operators to create new products and making debugging simpler and faster.

[0159] VII. Effect Verification:

[0160] Practical application has proven that by using this 3D vision fixture and application method, the core assembly accuracy is 0.1mm, reducing the number of defective water jacket cores caused by accuracy cracks by more than 75%.

[0161] Using this 3D vision fixture, automatic core assembly is completed on the conveyor line, which improves production efficiency from the original 65 sets / hour to more than 80 sets / hour.

[0162] Using this method, multiple photos and precise captures can be taken from any angle, allowing the core assembly accuracy of the sand core to be controlled within 0.2mm.

[0163] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any modifications, equivalent substitutions, and improvements made by those skilled in the art within the scope of the technology disclosed in the present invention, and within the spirit and principles of the present invention, should be included within the scope of protection of the present invention. Furthermore, all content not described in detail in this specification is prior art known to those skilled in the art.

Claims

1. A robot core assembly fixture equipped with a 3D vision system, characterized in that: It includes a 3D camera and a robot; the 3D camera is mounted on a fixture to photograph and position the casting sand core and complete the core assembly; the robot's sixth axis is used to flip the assembled core. The 3D camera is mounted on the fixture to photograph and position the casting sand core, and to complete the core assembly; the sixth axis of the robot is used to flip the assembled core, and the specific steps include: (1) The roller conveyor pallets are divided into two pallets: one for the water jacket core and one for the main core, with two pieces per pallet; (2) The robot adjusts its posture and uses a 3D camera to take pictures to locate the No. 1 water jacket core. With the assistance of a laser ranging system, the robot is guided to grab the No. 1 water jacket core. (3) The clamp rotates the No. 1 water jacket core 180 degrees; (4) The robot locates the No. 1 main core by taking pictures with vision and using a laser ranging system for assistance; (5) The robot combines the No. 1 water jacket cover core and the No. 1 main body core; (6) The robot adjusts its posture and uses 3D vision to take pictures to locate the No. 2 water jacket core. With the assistance of the laser ranging system, the robot is guided to grab the No. 2 water jacket core. (7) The clamp rotates the No. 2 water jacket core 180 degrees; (8) The robot locates the No. 2 main core by taking pictures with vision and using a laser ranging system for assistance; (9) The robot assembles the No. 2 water jacket cover core and the No. 2 main body core; (10) Return to the origin and repeat the above process.

2. A method for debugging a robot core assembly fixture equipped with a 3D vision system, characterized in that: A 3D camera is mounted on a fixture to photograph and position the casting sand core, and then the core is assembled. The sixth axis of a robot is used to flip the assembled core. This includes debugging the programs for the robot and the 3D camera; The robot debugging steps are as follows: First, open the robot teach pendant. In the program interface, create a new folder named "New Workpiece Model" within the "yq_zx" folder according to the path KRC / R1 / yq_zx / workpiece model. The second step is to establish the main program and subroutines; The third step is to enter the gripping program for the first group of workpiece cover plates of the new workpiece model; The fourth step is to proceed with the placement procedure for the first group of workpiece cover plates of the new workpiece model. Step 5: Enter the gripping program for the second group of workpiece cover plates of the new workpiece model; Step 6: Enter the Main_workpiece_model.rc program to make changes; Step 7: Add a new workpiece program to the main program; The establishment of the main program and subroutines specifically includes: (1) The new workpiece model is set as B773. For workpiece model B773, the robot will combine two sets of workpieces in one process. There are two sets of finished parts. There are two sets of cover plate grabbing programs in the B773 program, with the program name containing "pick" and two sets of cover plate placement programs, with the program name containing "drop". (2) KRL3D_B773_pick_1 is the program for picking up the cover plate of the first group of workpieces of model B773; (3) KRL3D_B773_pick_2 is the gripping program for the second group of workpiece cover plates of workpiece model B773; (4) KRL3D_B773_drop_1 is the program for placing the cover plate of the first group of workpieces of model B773; (5) KRL3D_B773_drop_2 is the program for placing the cover plate of the second group of workpieces of model B773; (6) Main_B773 is the integration program for workpiece model B773.

3. The debugging method for a robot core fixture equipped with a 3D vision system according to claim 2, characterized in that, The grabbing program for the first group of workpiece cover plates of the new workpiece model specifically includes: Enter the file containing KRL3D_B773_pick_1.src; Bytes[] = "B77301"; Change B77301 to the image capture command for the first set of workpiece cover plates of the new workpiece in the camera software.

4. The debugging method for a robot core fixture equipped with a 3D vision system according to claim 3, characterized in that, The procedure for placing the cover plate of the first group of new workpiece models specifically includes: Enter the file containing KRL3D_B773_drop_1.src; Bytes[]="B77302"; Change B77302 to the camera software's instruction to take a picture of the placement template for the first set of workpiece cover plates of the new workpiece.

5. The debugging method for a robot core fixture equipped with a 3D vision system according to claim 4, characterized in that, The grabbing procedure for the second group of workpiece cover plates of the new workpiece model specifically includes: Enter the file containing KRL3D_B773_pick_2.src; Bytes[]="B77303"; Change B77303 to the capture template photo instruction for the second group of workpiece cover plates of the new workpiece in the camera software.

6. The debugging method for a robot core fixture equipped with a 3D vision system according to claim 5, characterized in that, Add a new workpiece program to the main program, specifically including: (1) Locate the cell program according to the path KR1 / R1 / ; (2) Change CASE 2 to Main_B773(); (3) The new workpiece program has been completed. Set the program number to 2 in the industrial control computer and the workstation will run the new workpiece operation program.

7. The debugging method for a robot core fixture equipped with a 3D vision system according to claim 2, characterized in that, The steps for 3D camera vision calibration are as follows: (1) Open the 3D camera program editing software "Designer4.2", enter the "Locationjob_1" module, and click "Run All"; (2) In the ToolBlock, double-click "cogtoolblock1" and "cog3DPatmaxtool1" in sequence to create a graphic template and capture the latest "visual training data"; (3) Floating 3D display in the training area, adjust the window to the maximum, manually adjust the range of module features, click the center origin, training, until training is successful and the trained status is displayed. (4) Run the template and check the similarity, which should be above 0.99; save the image in the 3DPatmax folder, and use different numbers for different workpieces; after closing the window, click Run; (5) In the cog3DPatmaxtool1 option, obtain the image position data and input the robot's position data. Click Training to save the image in the 3Dtransform folder. The workpiece number should be consistent with the image template. (6) Close the debugging window and return to the main interface. Click Run to enter the automatic mode and complete the 3D camera debugging.

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